3. The Purpose of the
Presentation
Overview the KAREL project
Describe some work done
Specifications
Karelino prototype
Solving math problems
Lesson plans
Karel second design
4. This project has been funded with support from the
European Commission.
This communication reflects the views only of the
author, and the Commission cannot be held
responsible for any use which may be made of the
information contained therein.
5. General Information
Karel Project in Numbers
Partners
Objectives
Results & Outcomes
Robot Requirements
Tasts Distribution
Work Breakdown Structure
KAREL PROJECT OVERVIEW
6. General Information
Programme: LIFELONG LEARNING
PROGRAMME
Sub-programme: COMENIUS
Action type: PARTNERSHIPS
Action: COMENIUS Multilateral school
partnerships
LLP Link No: 2013-1-RO1-COM06-29664 1
Project title: Karel - Autonomous Robot for
Enhancing Learning
Project acronym: KAREL
Implementation: 01.08.2013 – 31.07.2015
7. Karel project in numbers
Countries: 4
Partners: 4
Teachers: 21
Students: 50
Mobilities: 96
Robots: 20
Lessons: 21
8. WHO?
Partners, pupils, teachers
1. Platon Schools (Εκπαιδευτηρια Πλατων)
(Katerini, Greece)
2. Beypazari Teknik Ve Endüstri Meslek Lisesi
(Beypazari, Turkey)
3. Technikum nr 1 im. Stanisława Staszica w
Zespole Szkoł Technicznych w Rybniku
(Rybnik, Poland)
4. Palatul Copiilor
(Drobeta Turnu Severin, Romania)
Pupils (aged from 14 to 19 years old) & Teachers
9. WHY?
Objectives
Improve teaching and learning of science and
technology using robotics as integrator
O1. Apply practical math and scientific
concepts while learning to design, build, test
and document KAREL.
O2. Create an interdisciplinary curriculum to
use with KAREL robotic platform.
O3. Improve confidence and fluency in English
and learn scientific and technical vocabulary in
partners’ languages.
10. WHAT?
Results & Outcomes
Robotics Dictionary in English and each
partner’s language.
Robotics Platforms designed and
manufactured (20).
Curriculum with at least 21 lesson plans, in
English and each partner’s language . At
least 2 lesson plans for each of following
fields: physics, biology, programming,
mechanics, electronics, and robotics.
11. HOW?
Tasks Distribution
Robotic platform design, manufacture, test
and document:
a) Mechanical system
Turkey
b) Electronic system
Poland (input / output devices)
Romania (controller, motor drivers, power supply,
communication)
d) Software
Greece (codes for lessons)
Romania (codes for input / output devices)
12. HOW?
Tasks Distribution
Pupils:
Create robotics dictionary
Research, design, build, test, and program
robotic platform
Test curriculum
Teachers:
Design curriculum
Guide pupils
13.
14. Specifications
Karelino - first controller prototype of Karel robot
Solving math problems
The second design of Karel platform
SOME OF THE WORK DONE
15. Agreed at the first project meeting in Beypazari
Available at http://sdrv.ms/170NTak
KAREL SPECIFICATIONS
24. Schematic
3D Views
PCB manufacturing
Board Testing
Mechanics, Electronics, and Software Integration (Rybnik meeting)
First Karel prototype
KARELINO - FIRST PROTOTYPE
OF THE ROBOTIC PLATFORM
25. Why Karelino?
Karel problems
2 s LiPo battery management
Motor voltage regulator
Solution
Small complexity prototype
Cristina – Karel team student
Karel & Arduino -> Karelino
54. Proposed Improvements
(Rybnik meeting)
Integrate new blocks (e.g. Motor voltage
regulator, UART connector, Battery
management system)
Make changes to the initial design (e.g.
replace USB micro B connector with an USB
mini B connector)
Redesign the PCB (components places and
traces) according to the chassis shape
Add LEDs to show the state of Bluetooth
module
55. Useful Links
Drawings for manufacturing the Karelino
controller http://1drv.ms/1jet3ci
Bill of materials for all designs
http://1drv.ms/1oAF8hr
56. Climbing an inclined plan
Karel Base Designs
Animation created in Geogebra
Problems Solved
MATH PROBLEMS
57. Climbing a 30 % inclined plan
A requirement which seems to be related just
to the power of the motors.
61. Theoretical problems related to
geometrical constraints study
Ground clearance
Front overhang
Rear overhang
We will use the work for some Math lesson plan
70. Programming Languages
C
Atmel Studio IDE
We created some modules (functions) for
Motors control
Serial communication (USART, Bluetooth)
Optical line sensors
Arduino
Arduino Leonardo compatibility
Microcontroller - ATmega32U4
Use Karel with Arduino?
71. Karel Visual Software
A former student of mine, Claudia Tudosie,
who is now student in the last year at
Timisoara University, Computers Enginnering
Faculty, chose for his final project a theme
related to KAREL. She proposed to create a
visual programming language (similar to
Scratch) for Karel platform.
73. Physics Lesson Plan
Friction & Speed
How the Karel robot will be integrated in the
lesson?
Robots will travel along surfaces of different
materials (in order to show that the speed
depends on the different surfaces)
What do we need to do?
Drive the robot along pathways (straight or
curved) on different surfaces.
Measure time, distance.
74. Materials
Materials with different coefficient of friction
Karel robot
Stopwatches
Distance measuring tools
Data sheets
Microsoft Excel
75. Lesson Objectives
Students will:
O1. Observe the influence of the road surface
to the speed of the robot.
O2. Use relation d = v * t in order to calculate
v when d, and t are given.
O3. Propose solutions for improvement of
friction between road and the tires of the robot.
76. Engagement
Students will predict how the surface of the
road affects the speed of the robot.
Example of questions for students:
What is the effect of the road type on the
vehicle speed? (bumpy / smooth, straight /
curvy)
How can you determine the speed of a
vehicle? (distance / time)
More friction means more or less speed?
77. Exploration
Students will measure the speed of the robot
on different surfaces. They will record the
data in the next table.
Surface type (road) Distance Time
The students will understand how the road
materials affect the time needed for the robot
to travel a given distance.
79. Elaboration
Students experiment with different surface
materials and weather conditions. Students
record the data in next table
Surface type (road) Distance Time Weather
Calculate the speed for each type of tested
road
80. Evaluation
Students introduce the collected data in an
Excel sheet and represent graphically the
distance as a function of time for different
road materials.
Students answer the next question: How the
friction of the roads could be increased or
decreased?
95. Improve Boards
Manufacturing Process
Older printer (Samsung) – 600 dpi resolution
New printer (HP) - 1200 dpi resolution
Very good results after some tests
Problems – printer driver for Windows 7
96. Printing problems
MS Word (doc)
Different results
Picture (png)
Scaling problems
Good results with
pdf files
109. Karel Second Prototype
Problems & Future Work
Some circuits (e.g. for battery
management) not tested yet
Some integrated circuits are not so easy
to procure (e.g. the ones made by Seiko)
Possible new changes in design using
new integrated circuits (e.g. boost
regulator supplied from 1 Li-Po battery
with high output current capabilities)
112. Invitation
International Robotics Trophy
ROBOTOR
SCRatch International Programming Trial
SCRIPT
Contact
mihai_agape@yahoo.com
113. Bibliography
Agape, Mihai. Agape, Maria-Genoveva.
“KAREL Specifications”, agreed in Karel
Project Meeting, held at Beypazari on 10–
16.11.2013. http://sdrv.ms/170NTak
Agape, Mihai. “Karelino—One Step in Karel
Robotic Platform Developing”, presentation
given at National Symposium IPO-TECH,
Tirgu-Neamt, 29.03.2014
114. Bibliography (cont.)
Agape, Mihai. “KAREL
Controller Design”, presentation delivered
at Karel project meeting, held at Rybnik, 06-
13.04.2014.
Agape, Cristina-Maria. “KAREL – Controller
Manufacturing”, presentation delivered at
Karel project meeting, held at Rybnik, 06-
13.04.2014.
115. Bibliography (cont.)
Agape, Mihai. “KAREL – First
Implementation Year”, presentation
delivered at the Robotic Symposium – Code
Week event, held at Katerini on 14th October
2014.
Agape, Maria-Genoveva. “Physics Lesson
Plan – Friction & Speed”, presentation
delivered at the Karel project meeting held at
Katerini, 12 – 19.10.2014.
116. Bibliography (cont.)
Agape, Mihai. “KAREL – 2nd Platform
Design”, presentation delivered at the Karel
project meeting, held at Katerini, 12 –
19.10.2014.
*** ATmega32U4, 7766G–AVR–02/2014. Atmel.
http://www.atmel.com/Images/Atmel-7766-8-bit-AVR-ATmega16U4- *** DRV8833, SLVSAR1C. Texas Instruments.
http://www.ti.com/lit/gpn/drv8833.
*** LM2940, SNVS769I. Texas Instruments.
http://www.ti.com/lit/gpn/lm2940-n.
117. Bibliography (cont.)
*** LM1117, SNOS412M. Texas Instruments.
http://www.ti.com/lit/gpn/lm1117-n
*** Bluetooth Module BTM-112 and BTM-182.
Rayson.
*** BQ241xx - Synchronous Switchmode, Li-Ion and
Li-Polymer Charge Management IC with Integrated
Power FETs (bqSWITCHER). Texas Instruments.
*** S8239 Series. Overcurrent Monitoring IC for Multi-
Serial-Cell Pack. Seiko Instruments Inc.
*** S8209A Series. Usage Guidelines. Seiko
Instruments Inc.
Who is working on this project, and who are they working with?
The obvious: identifying team members.
The ambigous: establishing clear connections among people who’ll be collaborating with each other, integrating their schedules and vacations, and noting how their role in the organization will affect their role on the project team. Outlining these kinds of details is worth the elbow grease, and can help you measure time frames in terms of actual labor hours rather than dubious calendar days.
The general objective of the project is to improve teaching and learning of science and technology using robotics as integrator
1. Apply practical math and scientific concepts while learning to design, build, test and document KAREL (a low cost, utonomous
robotic platform for enhancing learning of sciences and technology in secondary school).
2. Create an interdisciplinary curriculum to use with KAREL robotic platform.
3. Improve confidence and fluency in English and learn scientific and technical vocabulary in partners’ languages.
Principal results and outcomes of the project.
Task Distribution
1. Robotic platform design, manufacture, test and document:
a) Mechanical system – Turkey
b) Electronic system – Poland (input / output devices), Romania (controller, motor drivers, power supply, communication)
d) Software – Greece (codes for lessons), Romania (codes for input / output devices)
The responsible partners will manufacture one final prototype for each partner. During the project all partners will learn to
manufacture their parts and will produce their own fleet of robots.
2. Curriculum for robotic platform design and document:
a) Physics – Greece, Romania
b) Biology – Greece
c) Mechanics – Turkey, Poland
d) Electronics - Poland, Romania
e) Programming – Greece, Romania
e) Robotics – Poland, Romania
Each lesson will be peer reviewed by other partners.
Each partner will translate the final curriculum in his language.
3. The robotic terms dictionary in English, Greek, Polish, Turkish and Romanian will be the result of our common effort.
Strategy
This project involves both pupils and teachers. The pupils will participate in all stages of the project. They will research, design, build,
test, and program the robotic platform. Also they will contribute to test the curriculum. Teachers will guide pupils and will create the
curriculum. We will create a robotic terms dictionary in partners languages.
The Work Breakdown Structure presented here represents all the work required to complete KAREL project. You can see that it is a very complex project.
We use Transfer Toner System to manufacture the PCB.
We use the materials from the Pulsar kit “PCB Fab-In-A-Box”.
We use a laser printer.
We use a fine sandpaper to sand the copper. Clean the surface with a cloth. Do not touch the surface once the cleaning is done.
If you are you are using a double sided copper board, then be sure to scrub the other side as well. This will speed up the etching process of the other side.
We use a laminator to transfer the toner form paper to board.